User Manual

TMCM-3313 CoE Firmware Manual • Firmware Version V1.01 | Document Revision V1.02 • 2016-NOV-29
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8.1 Homing Methods
The TMCM-3313 supports a subset of different standard CANopen homing methods. The homing method
that is to be used can be choosen via object 6098
h
(section 8.2.5).
Supported Homing Methods
Method Description
0 No homing (default value for object 6098
h
).
1 Search the left end switch, then search the next encoder index pulse.
2 Search the right end switch, then search the next encoder index pulse.
3 Search the positive edge of the home switch, then search the next encoder index pulse.
5 Search the negative edge of the home switch, then search the next encoder index pulse.
17 Search the left end switch.
18 Search the right end switch.
19 Search the positive edge of the home switch.
21 Search the negative edge of the home switch.
33 Search next index pulse in negative direction.
34 Search next index pulse in positive direction.
35 The actual position is used as home position. All position values (objects 6062h, 6063h,
and 6064h) are set to zero, but the motor will not move.
Table 275: Supported CANopen Homing Methods
When using homing methods that need end switch inputs or home switch inputs please take care of their
configuration (object 2005
h
, section 4.2.6).
8.1.1 Homing Method 1: Homing on negative Limit Switch and Index Pulse
Using this method, the initial direction of movement shall be leftward if the negative limit switch is inactive
(here: low). The home position shall be at the first index pulse to the right of the position where the
negative limit switch becomes inactive.
1
Index pulse
Negative limit switch
1
Figure 14: Homing Method 1
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